Near and far plane?

[deeplearningfam]

Hi,

thanks a lot for the great dataset! I was wondering if it is possible to get the approximate near and far plane for the frames? I couldn't find this in the geometry tutorial.

Thanks!

[ahmadyan]

The near and far plane are optimized per frame, and they are available via the projection_matrix, specifically, proj[2, 2] and proj[2, 3]

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Which after solving should give you 1000m and 1cm, but depending on calibration it might vary.